diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 50de5cdf5..13a041a5b 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -261,6 +261,15 @@ Point3 Rot3::unrotate(const Point3& p) const {
   return Point3(transpose_*p.vector()); // q = Rt*p
 }
 
+/* ************************************************************************* */
+Rot3 Rot3::slerp(double t, const Rot3& other) const {
+  // amazingly simple in GTSAM :-)
+  assert(t>=0 && t<=1);
+  cout << "slerp" << endl;
+  Vector3 omega = localCoordinates(other, Rot3::EXPMAP);
+  return retract(t * omega, Rot3::EXPMAP);
+}
+
 /* ************************************************************************* */
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 62ac9f3f9..b5e065a03 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -445,6 +445,13 @@ namespace gtsam {
      */
     Vector quaternion() const;
 
+    /**
+     * @brief Spherical Linear intERPolation between *this and other
+     * @param s a value between 0 and 1
+     * @param other final point of iterpolation geodesic on manifold
+     */
+    Rot3 slerp(double t, const Rot3& other) const;
+
     /// Output stream operator
     GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Rot3& p);
 
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 89475eba6..9761dfd74 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -574,6 +574,18 @@ TEST( Rot3, stream)
   EXPECT(os.str() == "\n|1, 0, 0|\n|0, 1, 0|\n|0, 0, 1|\n");
 }
 
+/* ************************************************************************* */
+TEST( Rot3, slerp)
+{
+  // A first simple test
+  Rot3 R1 = Rot3::Rz(1), R2 = Rot3::Rz(2), R3 = Rot3::Rz(1.5);
+  EXPECT(assert_equal(R1, R1.slerp(0.0,R2)));
+  EXPECT(assert_equal(R2, R1.slerp(1.0,R2)));
+  EXPECT(assert_equal(R3, R1.slerp(0.5,R2)));
+  // Make sure other can be *this
+  EXPECT(assert_equal(R1, R1.slerp(0.5,R1)));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;